Robot Operating System (ROS) - The Complete Reference

604 Pages·2018·32.07 MB·English

by  Koubaa

Studies in Computational Intelligence 778
Editor
Anis Koubaa
Robot
Operating
System (ROS)
The Complete Reference (Volume 3)
Studies in Computational Intelligence
Volume 778
Series editor
Janusz Kacprzyk, Polish Academy of Sciences, Warsaw, Poland
e-mail: [email protected]
The series “Studies in Computational Intelligence” (SCI) publishes new develop-
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More information about this series at http://www.springer.com/series/7092
Anis Koubaa
Editor
Robot Operating System
(ROS)
The Complete Reference (Volume 3)
123
Editor
AnisKoubaa
Collegeof Computer Science
andInformationSystems
PrinceSultan University
Riyadh
SaudiArabia
and
CISTER Research Unit
Porto
Portugal
and
Gaitech Robotics
Shanghai, Beijing
China
ISSN 1860-949X ISSN 1860-9503 (electronic)
Studies in Computational Intelligence
ISBN978-3-319-91589-0 ISBN978-3-319-91590-6 (eBook)
https://doi.org/10.1007/978-3-319-91590-6
LibraryofCongressControlNumber:2018940893
©SpringerInternationalPublishingAG,partofSpringerNature2019
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Acknowledgements to Reviewers
TheEditorwouldliketothankthefollowingreviewersfortheirgreatcontributions
in the review process of the book by providing a quality feedback to authors.
Reviewers
Anis Koubâa, Prince Sultan University, Saudi Arabia / CISTER Research Unit,
Portugal
Abdulla Al-Kaff, Universidad Carlos III de Madrid
David Portugal, Ingeniarius, Ltd.
Maram Alajlan, King Saud University
Joao Fabro, UTFPR - Federal University of Technology-Parana
Valerio De Carolis, Heriot-Watt University
Ricardo Julio, UNIFEI
Andre Oliveira, UTFPR
Juan Jesús Roldán Gómez, Universidad Politécnica de Madrid
Kostas Alexis, University of Nevada, Reno
Christoph Rösmann, Institute of Control Theory and Systems Engineering, TU
Dortmund University
Guilherme Sousa Bastos, UNIFEI
Walter Fetter Lages, Universidade Federal do Rio Grande do Sul
Lennart Kryza, TU Berlin
Vladimir Ivan, The University of Edinburgh
Elena Peña-Tapia, Universidad Politécnica de Madrid
L. V. R. Arruda, UTFPR
Michael Hutchinson, Loughborough University
Maximilian Krämer, Technische Universität Dortmund
Gonçalo Martins, University of Coimbra
Viswanath Bellam, Robotics Research Industry
Ali Bin Wahid, Shanghai Gentech Scientific Instruments
Paulo Drews Jr., FURG
Franz Albers, TU Dortmund
Christos Papachristos, UNR
v
vi AcknowledgementstoReviewers
João Santos, FARO
Moritz Luetkemoeller, TU Dortmund
Christos Papachristos, UNR
Alvaro Cantieri, IFPR
Acknowledgments
The Editor would like to thank the Robotics and Internet of Things (RIoT) Lab
of the College of Computer and Information Sciences of Prince Sultan University
for their support to this work.
Furthermore, the Editor thanks Gaitech Robotics in China for their support.
vii
Contents
Part I Multi-robot Systems
A ROS-Based Framework for Simulation and Benchmarking
of Multi-robot Patrolling Algorithms . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
David Portugal, Luca Iocchi and Alessandro Farinelli
Multi-robot Systems, Virtual Reality and ROS: Developing
a New Generation of Operator Interfaces . . . . . . . . . . . . . . . . . . . . . . . 29
Juan Jesús Roldán, Elena Peña-Tapia, David Garzón-Ramos,
Jorge de León, Mario Garzón, Jaime del Cerro and Antonio Barrientos
Part II Unmanned Aerial Systems
Autonomous Exploration and Inspection Path Planning for Aerial
Robots Using the Robot Operating System . . . . . . . . . . . . . . . . . . . . . . 67
Christos Papachristos, Mina Kamel, Marija Popović, Shehryar Khattak,
Andreas Bircher, Helen Oleynikova, Tung Dang, Frank Mascarich,
Kostas Alexis and Roland Siegwart
A Generic ROS Based System for Rapid Development and Testing
of Algorithms for Autonomous Ground and Aerial Vehicles . . . . . . . . . 113
Pawel Ladosz, Matthew Coombes, Jean Smith and Michael Hutchinson
ROS-Based Approach for Unmanned Vehicles in Civil
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Abdulla Al-Kaff, Francisco Miguel Moreno and Ahmed Hussein
A Quadcopter and Mobile Robot Cooperative Task Using Visual
Tags Based on Augmented Reality ROS Package . . . . . . . . . . . . . . . . . 185
AlvaroRogérioCantieri,RonnierF.Rohrich,AndréSchneiderdeOliveira,
MarcoAurélioWehrmeister,JoãoAlbertoFabro,MarlondeOliveiraVaz,
Magnus Eduardo Goulart and Guilherme Hideki
ix
x Contents
Part III Navigation, Motion Planning and Control
EXOTica: An Extensible Optimization Toolset for Prototyping
and Benchmarking Motion Planning and Control . . . . . . . . . . . . . . . . . 211
Vladimir Ivan, Yiming Yang, Wolfgang Merkt, Michael P. Camilleri
and Sethu Vijayakumar
Online Trajectory Optimization and Navigation in Dynamic
Environments in ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
Franz Albers, Christoph Rösmann, Frank Hoffmann and Torsten Bertram
A Backstepping Non-smooth Controller for ROS-Based
Differential-Drive Mobile Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275
Walter Fetter Lages
University Rover Challenge: Tutorials and Team Survey . . . . . . . . . . . 315
Daniel Snider, Matthew Mirvish, Michal Barcis and Vatan Aksoy Tezer
Part IV Contributed ROS Packages
SROS1: Using and Developing Secure ROS1 Systems . . . . . . . . . . . . . . 373
RuffinWhite,GianlucaCaiazza, HenrikChristensen andAgostinoCortesi
GPU and ROS the Use of General Parallel Processing Architecture
for Robot Perception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
Nicolas Dalmedico, Marco Antônio Simões Teixeira,
Higor Santos Barbosa, André Schneider de Oliveira,
Lucia Valeria Ramos de Arruda and Flavio Neves Jr
Connecting ROS and FIWARE: Concepts and Tutorial . . . . . . . . . . . . 449
Raffaele Limosani, Alessandro Manzi, Laura Fiorini, Paolo Dario
and Filippo Cavallo
Enabling Real-Time Processing for ROS2 Embedded Systems . . . . . . . 477
Lucas da Silva Medeiros, Ricardo Emerson Julio,
Rodrigo Maximiano Antunes de Almeida and Guilherme Sousa Bastos
Part V Interfaces for Interaction with Robots
bum_ros: Distributed User Modelling for Social Robots
Using ROS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Gonçalo S. Martins, Luís Santos and Jorge Dias
ROSRemote: Using ROS on Cloud to Access Robots Remotely . . . . . . . 569
Alyson Benoni Matias Pereira, Ricardo Emerson Julio
and Guilherme Sousa Bastos